WO2021185024A1 - Information obtaining method and apparatus - Google Patents

Abstract

Disclosed are an information obtaining method and apparatus. The method comprises: determining that a first sensor in environmental perception sensors on a vehicle fails; determining a first detection area of the first sensor, the first detection area comprising a first angle range, and the first angle range being an angle range in which a detection angle of the first sensor covers a driving environment around the vehicle; adjusting a second detection area of a dynamic sensor on the vehicle, so that an angle range of the second detection area covers the first angle range; and obtaining environmental information using the dynamic sensor. By adoption of the method, after the environmental perception sensors achieve 720-degree panoramic coverage on the driving environment around the vehicle, when a certain environmental perception sensor fails, the dynamic sensor can be used to replace said environmental perception sensor to obtain the environmental information, without additionally adding a plurality of environmental perception sensors, thereby greatly reducing the waste of environmental perception sensor resources and improving applicability.

Description

Information acquisition method and device

This application claims the priority of a Chinese patent application filed with the State Intellectual Property Office of China on March 16, 2020, the application number is 202010183228.4, and the invention title is "Information Acquisition Method and Apparatus", the entire content of which is incorporated into this application by reference .

Technical field

This application relates to the field of automatic driving technology, and in particular to an information acquisition method and device.

Background technique

In the field of autonomous driving, ensuring the safety of vehicles is of paramount importance. At present, in some autonomous driving application scenarios, for example, L3 and L4 level automatic driving system fail-operation application scenarios, it is required that the safety level of autonomous vehicles must reach the automotive safety integrity level (automotive safety integrity level). , ASIL)D, the highest level of automotive safety integrity level.

The environment perception sensors currently used in autonomous vehicles can only meet the ASIL B level requirements for their ASIL capabilities. Therefore, the environment perception sensors are required to have a 720-degree panoramic coverage of the surrounding driving environment of the vehicle, that is, for the surrounding driving environment of the vehicle For any detection direction within the 360-degree angle range, the vehicle must have two corresponding environmental sensing sensors, and each environmental sensing sensor can individually detect the environmental information of the detection direction, so as to ensure that the vehicle meets the requirements ASIL D level requirements. However, if a certain environmental sensing sensor fails during the automatic driving of the vehicle, there may be only one environmental sensing sensor for each detection direction within the angular range of the driving environment around the vehicle covered by the detection angle of the environmental sensing sensor The environmental information can be detected, which cannot meet the requirements of ASIL D.

In order to solve the above technical problems, in the prior art, in addition to the 720-degree panoramic coverage of the surrounding driving environment of the vehicle, multiple environmental sensing sensors are usually installed, so that once an environmental sensing sensor fails, it can still be It is ensured that there are two environmental sensing sensors that can obtain the environmental information of each detection direction within the corresponding angle range of the failed environmental sensing sensor, so as to ensure that the vehicle meets the requirements of ASIL D. However, because the vehicle is in the process of automatic driving, there is usually only one environmental sensing sensor that fails at the same time. That is to say, among the multiple environmental sensing sensors that are usually installed, only the environmental sensing sensor that detects the failure corresponds to the detection direction. The environment-sensing sensor must enter the working state, and the other environment-sensing sensors may not need to enter the working state, which will cause a waste of environment-aware sensor resources. Based on this, how to reduce the waste of environmental sensing sensor resources in an autonomous vehicle has become a technical problem to be solved urgently by those skilled in the art.

Summary of the invention

This application provides an information acquisition method and device to solve the problem of how to reduce the resource waste of environmental sensing sensors in an autonomous vehicle.

In a first aspect, the present application provides an information acquisition method, which is applied to an in-vehicle system of a vehicle, and the method includes: determining that a first sensor in the environmental sensing sensor on the vehicle is a failed environmental sensing sensor; and determining The first detection area of the first sensor; the first detection area includes a first angle range; the first angle range is the angle range where the detection angle of the first sensor covers the driving environment around the vehicle; adjustment The second detection area of the dynamic sensor on the vehicle is such that the angle range of the second detection area covers the first angle range; the dynamic sensor is used instead of the first sensor to obtain environmental information.

In this implementation, the first detection area of the failed environmental sensor on the vehicle and the first detection area of the failed environmental sensor is determined; then by adjusting the second detection area of the dynamic sensor on the vehicle, the second detection area of the dynamic sensor is adjusted To a state where the angle range covers the first angle range of the first detection area; finally, the dynamic sensor is used to replace the failed environmental sensing sensor to obtain environmental information. Using this method, when the environment sensing sensor covers the driving environment around the vehicle to 720 degrees panoramic coverage, when an environmental sensing sensor fails, the dynamic sensor can be used to replace the environmental sensing sensor to obtain each detection direction within its angle range. Without adding multiple environment sensing sensors, it greatly reduces the waste of environmental sensing sensor resources and has better applicability.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the second detection area of the dynamic sensor on the vehicle is adjusted so that the angle range of the second detection area covers the first angle range , Including: acquiring a first angle; the first angle being the angle of the central axis of the first sensor deviating from the reference coordinate axis of the vehicle coordinate system; adjusting the angle of the central axis of the dynamic sensor deviating from the reference coordinate axis, The angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis is the first angle; the detection angle of the dynamic sensor is greater than or equal to the detection angle of the first sensor.

In this implementation manner, a dynamic sensor with a detection angle greater than or equal to any environmental sensing sensor can be used to replace any failed environmental sensing sensor to obtain environmental information, and the setting of the dynamic sensor is relatively simple.

With reference to the first aspect, in a second possible implementation manner of the first aspect, the second detection area of the dynamic sensor on the vehicle is adjusted so that the angle range of the second detection area covers the first angle range , Including: adjusting the position of the central axis of the dynamic sensor so that the central axis of the dynamic sensor is located at the calibration position corresponding to the first detection area; the calibration position refers to the boundary information according to the first angle range , A position calibrated for the central axis of the dynamic sensor in advance, and when the central axis of the dynamic sensor is at the calibrated position, the angular range of the second detection area covers the first angular range.

In this implementation, a calibration position can be set for the dynamic sensor in advance for the detection area of each environmental sensing sensor, and then according to the corresponding relationship between the detection area and the calibration position, the second detection area of the dynamic sensor can be quickly adjusted to its angle The range covers the state of the first angle range, and the adjustment process is simpler.

With reference to the first aspect, in a third possible implementation manner of the first aspect, the second detection area of the dynamic sensor on the vehicle is adjusted so that the angle range of the second detection area covers the first angle range , Including: adjusting the second detection area of the second sensor so that the second detection area covers the first detection area; the dynamic sensor includes the second sensor, and the sensor type of the second sensor is The sensor types of the first sensors are the same.

In this implementation manner, a dynamic sensor of the same sensor type as that of the failed environmental sensing sensor can be used to replace the failed environmental sensing sensor to obtain environmental information, and the obtained environmental information is more accurate.

With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the determining that the first sensor in the on-vehicle environmental sensing sensor is a failed environmental sensing sensor includes: acquiring the on-vehicle environmental sensing sensor The status information; according to the status information, it is determined that the first sensor in the environment sensing sensor is a failed environment sensing sensor.

In this implementation manner, it can be determined whether the environmental sensing sensor is invalid according to the status information uploaded by the environmental sensing sensor, and the result of the determination is more accurate.

With reference to the first aspect, in a fifth possible implementation manner of the first aspect, the method further includes: generating vehicle control information according to the environmental information detected by the dynamic sensor.

In this implementation, when the environment sensing sensor fails, the dynamic sensor can be used to replace the failed environment sensing sensor to obtain environmental information, and the vehicle control information is generated based on the environmental information detected by the dynamic sensor, ensuring the accuracy of the vehicle control information Sex, making the vehicle safer.

In a second aspect, the present application provides an information acquisition device. The device includes: a first determination module, configured to determine that the first sensor in the environment sensing sensor on a vehicle is a failed environment sensing sensor; and a second determination module, configured to Determine a first detection area of the first sensor; the first detection area includes a first angle range; the first angle range is an angle range where the detection angle of the first sensor covers the driving environment around the vehicle; The adjustment module is used to adjust the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range; the acquisition module is used to replace the first angle range with the dynamic sensor A sensor obtains environmental information.

The device of this implementation mode can first determine the failed environmental sensing sensor on the vehicle and the first detection area of the failed environmental sensing sensor; then by adjusting the second detection area of the dynamic sensor on the vehicle, the second detection area of the dynamic sensor The area is adjusted to a state where its angle range covers the first angle range of the first detection area; finally, the dynamic sensor is used to replace the failed environment sensing sensor to obtain environment information. The device is applied to the in-vehicle system of an autonomous vehicle. When the environment sensor has a 720-degree panoramic coverage of the surrounding driving environment of the vehicle, when an environment sensor fails, a dynamic sensor can be used to replace the environment sensor. Obtain the environmental information of each detection direction within its angle range without adding multiple environmental sensing sensors, which greatly reduces the waste of environmental sensing sensor resources and has better applicability.

With reference to the second aspect, in the first possible implementation of the second aspect, the adjustment module is specifically configured to: obtain a first angle; the first angle is the deviation of the center axis of the first sensor from the vehicle coordinate system The angle of the reference coordinate axis; adjust the angle by which the central axis of the dynamic sensor deviates from the reference coordinate axis, so that the angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis is the first angle; the dynamic sensor The detection angle of is greater than or equal to the detection angle of the first sensor.

In the device of this implementation manner, a dynamic sensor with a detection angle greater than or equal to any environmental sensing sensor can be used to replace any failed environmental sensing sensor to obtain environmental information, and the setting of the dynamic sensor is relatively simple.

With reference to the second aspect, in a second possible implementation manner of the second aspect, the adjustment module is specifically configured to: adjust the position of the central axis of the dynamic sensor so that the central axis of the dynamic sensor is located in the first The calibration position corresponding to the detection area; the calibration position refers to the position calibrated in advance for the central axis of the dynamic sensor according to the boundary information of the first angular range. When the central axis of the dynamic sensor is at the calibration position, the The angular range of the second detection area covers the first angular range.

The device of this implementation mode can set a calibration position for the dynamic sensor in advance for the detection area of each environmental sensing sensor, and then according to the corresponding relationship between the detection area and the calibration position, the second detection area of the dynamic sensor can be quickly adjusted to its The angle range covers the state of the first angle range, and the adjustment process is simpler.

With reference to the second aspect, in a third possible implementation manner of the second aspect, the adjustment module is specifically configured to: adjust the second detection area of the second sensor so that the second detection area covers the first detection area The dynamic sensor includes the second sensor, and the sensor type of the second sensor is the same as the sensor type of the first sensor.

In the device of this implementation manner, a dynamic sensor of the same sensor type as that of the failed environmental sensing sensor can be used to replace the failed environmental sensing sensor to obtain environmental information, and the obtained environmental information is more accurate.

With reference to the second aspect, in a fourth possible implementation manner of the second aspect, the first determining module is specifically configured to: acquire status information of the environment sensing sensor on the vehicle; determine the environment awareness according to the status information The first sensor in the sensors is a failed environmental sensing sensor.

The device of this implementation manner can determine whether the environment perception sensor is invalid according to the status information uploaded by the environment perception sensor, and the result of the determination is more accurate.

With reference to the second aspect, in a fifth possible implementation manner of the second aspect, the device further includes: a generating module configured to generate vehicle control information according to the environmental information detected by the dynamic sensor.

With the device of this implementation mode, when the environment sensing sensor fails, the dynamic sensor can be used to replace the failed environment sensing sensor to obtain environmental information, and the vehicle control information is generated according to the environmental information detected by the dynamic sensor, which ensures the vehicle control information. Accuracy makes the vehicle safer.

In a third aspect, an embodiment of the present application provides a communication device. The communication device includes a processor. When the processor executes a computer program or instruction in a memory, the method described in the first aspect is executed.

In a fourth aspect, an embodiment of the present application provides a communication device. The communication device includes a processor and a memory, where the memory is used to store computer programs or instructions; and the processor is used to execute the computer programs or instructions stored in the memory. Instructions to cause the communication device to perform the corresponding method as shown in the first aspect.

In a fifth aspect, an embodiment of the present application provides a communication device, the communication device includes a processor, a memory, and a transceiver; the transceiver is used for receiving signals or sending signals; the memory is used for storing computer programs or Instructions; the processor is configured to call the computer program or instructions from the memory to execute the method described in the first aspect.

In a sixth aspect, an embodiment of the present application provides a communication device, the communication device includes a processor and an interface circuit; the interface circuit is configured to receive a computer program or instruction and transmit it to the processor; the processor runs The computer program or instruction is to perform the corresponding method as shown in the first aspect.

In a seventh aspect, embodiments of the present application provide a computer storage medium, where the computer storage medium is used to store a computer program or instruction, and when the computer program or instruction is executed, the method described in the first aspect is implemented.

In an eighth aspect, embodiments of the present application provide a computer program product including a computer program or instruction, which when the computer program or instruction is executed, enables the method described in the first aspect to be implemented.

In order to solve the problem of how to reduce the resource waste of environmental sensing sensors in autonomous vehicles, this application provides an information acquisition method and device. In this method, the first detection area of the failed environmental sensing sensor on the vehicle and the failed environmental sensing sensor is determined first; then by adjusting the second detection area of the dynamic sensor on the vehicle, the second detection area of the dynamic sensor is adjusted to Its angular range covers the state of the first angular range of the first detection area; finally, the dynamic sensor is used to replace the failed environmental sensing sensor to obtain environmental information. Using this method, when the environment sensing sensor covers the driving environment around the vehicle to 720 degrees panoramic coverage, when an environmental sensing sensor fails, the dynamic sensor can be used to replace the environmental sensing sensor to obtain each detection direction within its angle range. Without adding multiple environment sensing sensors, it greatly reduces the waste of environmental sensing sensor resources and has better applicability.

Description of the drawings

Figure 1 is a schematic diagram of an application scenario provided by this application;

Figure 2 is a schematic diagram of another application scenario provided by this application;

FIG. 3 is a structural block diagram of an implementation manner of the on-board system of a vehicle provided by this application;

Figure 4 is a schematic diagram of another application scenario provided by this application;

FIG. 5 is a schematic flowchart of an implementation manner of the information acquisition method provided by this application;

Figure 6 is a schematic diagram of another application scenario provided by this application;

FIG. 7 is a structural block diagram of an implementation manner of the information acquisition device provided by this application;

FIG. 8 is a structural block diagram of an implementation manner of a chip provided by this application.

Detailed ways

The technical solution of the present application will be described below in conjunction with the drawings.

In the description of this application, unless otherwise specified, "/" means "or". For example, A/B can mean A or B. "And/or" in this article is only an association relationship describing the associated objects, which means that there can be three kinds of relationships. For example, A and/or B can mean: A alone exists, A and B exist at the same time, and B exists alone. These three situations. In addition, "at least one" means one or more, and "plurality" means two or more. The words "first" and "second" do not limit the quantity and order of execution, and the words "first" and "second" do not limit the difference.

It should be noted that in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or illustrations. Any embodiment or design solution described as "exemplary" or "for example" in this application should not be construed as being more preferable or advantageous than other embodiments or design solutions. To be precise, words such as "exemplary" or "for example" are used to present related concepts in a specific manner.

In order to facilitate the understanding of the technical solutions of the present application, the application scenarios of the technical solutions provided in the present application will be exemplarily described below.

In combination with the foregoing background technology, it can be seen that in some automatic driving application scenarios, for example, in the application scenarios where the L3 and L4 level automatic driving systems fail to operate, the safety level of the automatic driving vehicle must reach the ASIL D level, and the automatic driving vehicle The ASIL capability of the environmental sensing sensors currently in use in the vehicle can only meet the requirements of ASIL B level. Therefore, the environmental sensing sensor is required to cover a 720-degree panoramic view of the driving environment around the vehicle, that is, for the 360° For any detection direction within the angle range of degrees, the vehicle must have two corresponding environmental sensing sensors, and each environmental sensing sensor can detect the environmental information of the detection direction separately, so as to ensure that the vehicle meets ASIL D Level requirements.

For example, refer to FIG. 1, which is a schematic diagram of an application scenario provided by an embodiment of the application. As shown in Figure 1, the surrounding driving environment of the vehicle is covered by a 720-degree panoramic view of the environment sensing sensor, that is, for each detection direction within a 360-degree angle range in the driving environment surrounding the vehicle, there are at least two corresponding environmental sensing sensors. , Each of the environmental sensing sensors can individually detect the environmental information of the detection direction.

However, if a certain environmental sensing sensor fails during the automatic driving of the vehicle, there may be only one environmental sensing sensor for each detection direction within the angular range of the driving environment around the vehicle covered by the detection angle of the environmental sensing sensor The environmental information of the detection direction can be detected, which cannot meet the requirements of ASIL D.

In order to solve the above technical problems, in the prior art, redundant 1080-degree panoramic coverage of the driving environment around the vehicle is usually adopted to ensure that the vehicle can still meet ASILD even if the environment sensing sensor fails in the autonomous vehicle. Level requirements. In other words, in addition to the environment sensing sensor that can cover the driving environment around the vehicle in a 720-degree panorama during normal operation, a number of additional environment sensing sensors are usually installed on the vehicle to detect each direction in the driving environment around the vehicle. There will also be a third corresponding environmental sensing sensor on the vehicle. The environmental sensing sensor can also independently detect the environmental information of the detection direction, so that once an environmental sensing sensor fails, it can still guarantee each detection direction. There can be two environmental sensing sensors that can obtain the environmental information of the detection direction, so as to ensure that the vehicle meets the requirements of ASIL D. For example, the existing arrangement of environment sensing sensors on vehicles can refer to the arrangement of sensors shown in FIG. 2.

However, during the auto-driving process of the vehicle, each environmental sensor in the vehicle will periodically perform self-checking. Once a fault occurs, it will be quickly repaired and restored to normal working conditions. Therefore, at the same time period, the vehicle usually only There is a malfunctioning environmental sensing sensor. Based on this, if an environmental sensing sensor fails, only a third environmental sensing sensor can detect the angle of the driving environment around the vehicle covered by the detection angle of the malfunctioning environmental sensing sensor. The environmental information of each detection direction in the range can ensure that the vehicle meets the requirements of ASIL D without adding multiple environmental sensing sensors. Therefore, according to the existing method, the redundant 1080-degree panoramic coverage of the surrounding driving environment of the vehicle can be achieved. Causes a waste of environment-aware sensor resources.

In summary, how to reduce the waste of environmental sensor resources in the vehicle while ensuring that the autonomous vehicle meets the ASIL D requirements has become an urgent technical problem for those skilled in the art.

The technical solutions provided by the embodiments of the present application will be specifically introduced below in conjunction with the drawings.

First, with reference to the accompanying drawings, the on-board system of the vehicle provided by the embodiment of the present application is introduced. The information acquisition method provided by the embodiment of the present application can be implemented in the on-board system.

Referring to Fig. 3, Fig. 3 is a structural block diagram of an implementation manner of the on-board system of a vehicle provided by this application. With reference to FIG. 3, it can be seen that the in-vehicle system 100 may include an environment sensing sensor 10, a dynamic sensor 20, an angle sensor 30, a rotation angle actuator 40, and a calculation unit 50.

Wherein, the environment sensing sensor 10 may include multiple, and each environment sensing sensor 10 is fixedly installed on the vehicle, and may be used to obtain environmental information of the driving environment around the vehicle. The environment sensing sensor 10 may be a camera device or a radar device, such as a lidar or millimeter wave radar. All environment sensing sensors 10 can form a 720-degree panoramic coverage of the driving environment around the vehicle. For example, as shown in FIG. 4, the arrangement of the environment sensing sensor 10 on the vehicle in the embodiment of the present application may refer to the arrangement of the environment sensing sensor shown in FIG. 4.

The dynamic sensor 20, the angle sensor 30 and the angle sensor 40 can be installed on the vehicle as a whole. The arrangement of the dynamic sensor 20 can be seen in FIG. The sensor 30 may be used to measure the angle of rotation of the angle actuator 40, and the dynamic sensor 20 may be used to obtain environmental information of the driving environment around the vehicle.

The environment sensing sensor 10, the dynamic sensor 20, the angle sensor 30 and the rotation angle actuator 40 all have a communication connection with the calculation unit 50. For the specific communication content, please refer to the content of the subsequent embodiments, which will not be described in detail here.

Those skilled in the art can understand that the structure of the vehicle-mounted system shown in FIG. 3 does not constitute a limitation to the vehicle-mounted system of the present application. The vehicle-mounted system of the present application may include more or fewer components than those shown in the figure, or combine certain components. Or different component arrangements. For example, the in-vehicle system may further include an actuator, which may be used to execute the vehicle control information output by the computing unit 50, for example, to control the vehicle to decelerate, accelerate, or turn. The illustrated components can be implemented by hardware, software, or a combination of software and hardware, which is not limited in this application.

The following describes an embodiment of the information acquisition method provided in this application.

Refer to FIG. 5, which is a schematic flowchart of an embodiment of the information acquisition method provided by this application. This information acquisition method can be applied to a calculation unit of an on-board system in a vehicle, such as the calculation unit 50 shown in FIG. 3. With reference to Figure 5, it can be seen that the method may include the following steps:

Step S101: Determine the first sensor among the environment sensing sensors on the vehicle.

Wherein, the first sensor on the vehicle is a failed environment sensing sensor detected by the computing unit.

During the operation of the vehicle, the computing unit of its on-board system can monitor the driving mode of the vehicle in real time. If it is determined that the vehicle enters the automatic driving mode, the computing unit can determine whether there is a failed environment sensor among all the environment sensors installed on the vehicle. That is to determine the first sensor in the environment sensing sensor.

The computing unit may determine the implementation of the first sensor in the environment sensing sensor in multiple ways, for example:

Exemplarily, each environmental sensing sensor on the vehicle can perform self-check on its own operating state, and report the state information obtained from the self-check to the computing unit. The state information includes state information of normal operation and state of failure. Information; after the computing unit receives the status information reported by each environmental sensing sensor, it can determine whether the environmental sensing sensor is a failed environmental sensing sensor based on the state information, that is, whether the environmental sensing sensor is the first sensor. Based on this, the calculation unit determining the first sensor in the environmental sensing sensor can be implemented in the following manner: acquiring state information of all environmental sensing sensors on the vehicle; determining the first sensor in the environmental sensing sensor according to the acquired state information.

Exemplarily, if the communication between one or more environmental sensing sensors on the vehicle and the computing unit is interrupted, the computing unit may determine the environmental sensing sensors with which communication is interrupted as the failed environmental sensing sensors, that is, the first sensor. Based on this, the computing unit determining the first sensor in the environment sensing sensor can also be implemented in the following manner: determining the environment sensing sensor in the environment sensing sensor that is interrupted in communication with the computing unit as the first sensor.

Exemplarily, if the status information received by the computing unit from the environment sensing sensor is garbled information, and the garbled information is neither normal operating status information nor faulty status information, the computing unit may send these garbled information to the environment The sensing sensor is determined to be a failed environmental sensing sensor, that is, the first sensor. Based on this, the calculation unit determining the first sensor in the environmental sensing sensor can also be implemented in the following manner: determining the environmental sensing sensor that sends garbled information among the environmental sensing sensors as the first sensor.

Step S102: Determine a first detection area of the first sensor.

Wherein, the first detection area of the first sensor refers to the area of the driving environment around the vehicle that can be detected by the first sensor. The first detection area includes a first angle range and a first extension distance, and the first angle range is The detection angle of the first sensor covers the angular range of the driving environment around the vehicle, that is, the angular range of the area. The first extension distance refers to the farthest distance between the peripheral boundary of the detection area and the vehicle. The first extension The distance is equal to the detection distance of the first sensor.

After the computing unit determines the first sensor in the environment sensing sensor, it needs to further determine the first detection area of the first sensor. Before the vehicle leaves the factory, the detection area of each environmental sensor on the vehicle can usually be calibrated in advance. The calibration methods can include a variety of methods, such as:

The first calibration method can determine the detection angle and detection distance of the environment sensor based on the detection performance of the environment sensor. The angular range of the driving environment around the vehicle that can be covered by the detection angle is the detection area of the environment sensor. Angle range, the detection distance is equal to the extension distance of the detection area. The detection angle of the environmental sensor is usually symmetrically distributed with the central axis of the environmental sensor as the axis of symmetry. Based on this, in the first calibration method, the angle that the central axis of the environmental sensor deviates from the reference coordinate axis of the vehicle coordinate system (such as the X coordinate axis of the vehicle coordinate system), as well as the detection angle and detection distance of the environmental sensor , Calibrate the detection area of the environmental sensor.

Among them, the vehicle coordinate system and the setting of the reference coordinate axis of the vehicle coordinate system can be seen in Figure 6. As shown in Figure 6, the positive direction of the X axis of the vehicle coordinate system is the forward direction of the vehicle, and the XY plane is parallel to the transverse section of the vehicle. The XZ plane is perpendicular to the XY plane, and the X axis is selected as the reference coordinate axis of the vehicle coordinate system, and the positive direction of the reference coordinate axis is the positive direction of the X axis.

In the second calibration method, since each environmental sensor on the vehicle is fixedly installed on the vehicle, the boundary information of the angle range of the driving environment around the vehicle covered by the detection angle of the environmental sensor can be determined in the vehicle coordinate system. For example, the angle at which the boundary of the angular range deviates from the reference coordinate axis of the vehicle coordinate system or the position coordinates of one or more pixels on the boundary of the angular range, as well as the detection distance of the environmental sensor, and the calibration of the environmental sensor The detection area.

Based on this, the calculation unit may determine the first detection area of the first sensor through pre-configured calibration information of the detection area of the environment sensing sensor.

Step S103: Adjust the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range of the first detection area.

After determining the first detection area of the first sensor on the vehicle, the computing unit can adjust the second detection area of the dynamic sensor on the vehicle so that the angular range of the second detection area of the dynamic sensor can completely cover the first detection area of the first sensor. In the first angle range, the dynamic sensor can be used to replace the first sensor to obtain environmental information in the future, ensuring that the surrounding driving environment of the vehicle can be covered by a 720-degree panoramic view of the environmental sensor, thereby ensuring that the vehicle meets the requirements of ASIL D.

Wherein, the second detection area of the dynamic sensor refers to the area of the driving environment around the vehicle that can be detected by the dynamic sensor. The angle range of the second detection area refers to the angle range where the detection angle of the dynamic sensor covers the driving environment around the vehicle. Since the dynamic sensor can be rotated and the dynamic sensor can be used to detect environmental information in any orientation in the driving environment around the vehicle, the second detection area of the dynamic sensor can be changed.

The implementation of adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range may include various implementations, for example:

Exemplarily, in order that the dynamic sensor can replace any environmental sensing sensor to obtain environmental information, the detection angle of the dynamic sensor is generally greater than or equal to the detection angle of any environmental sensing sensor. Therefore, as long as the angle of the central axis of the dynamic sensor deviating from the reference coordinate axis of the vehicle coordinate system is adjusted to the angle of the central axis of the first sensor deviating from the reference coordinate axis, the angular range of the second detection area of the dynamic sensor can be covered. The first angular range of the first detection area of the first sensor.

Based on this, adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range can be implemented in the following manner: First, determine according to the calibration information of the first detection area The angle by which the central axis of the first sensor deviates from the reference coordinate axis of the vehicle coordinate system (for example, the X coordinate axis of the vehicle coordinate system) is recorded as the first angle; then, the angle by which the central axis of the dynamic sensor deviates from the reference coordinate axis is adjusted, Until the angle by which the central axis of the dynamic sensor deviates from the reference coordinate axis is adjusted to the first angle.

Optionally, the calculation unit adjusts the angle by which the central axis of the dynamic sensor deviates from the reference coordinate axis until the angle by which the central axis of the dynamic sensor deviates from the reference coordinate axis is adjusted to the first angle, which may be as follows Realization: First determine the angle detected by the angle sensor fixed with the dynamic sensor when starting to adjust the angle that the central axis of the dynamic sensor deviates from the reference coordinate axis, and this is recorded as the second angle. Calibrate the dynamic sensor. When the angle detected by the calibrated angle sensor is zero degrees, the angle that the central axis of the dynamic sensor deviates from the reference coordinate axis is zero degrees; then when the second angle is different from the first angle, control The angle actuator fixed with the dynamic sensor rotates, and the angle sensor is used to monitor the angle of rotation of the angle actuator in real time until the angle detected by the angle sensor is equal to the first angle. At this time, the center of the dynamic sensor The angle by which the axis deviates from the reference coordinate axis is equal to the first angle, and the angle range of the second detection area of the dynamic sensor covers the first angle range of the first detection area of the first sensor.

Exemplarily, before the vehicle leaves the factory, according to the boundary information of the angular range of the detection area of each environmental sensor, in the vehicle coordinate system, the central axis of the dynamic sensor on the vehicle may be pre-calibrated with a corresponding boundary information. The specific position is marked as the calibration position. When the central axis of the dynamic sensor rotates to the calibration position, the angular range of the second detection area of the dynamic sensor covers the angular range of the detection area of the environment sensing sensor. In addition, since the detection angle of the dynamic sensor is greater than or equal to the detection angle of any environmental sensor, when the central axis of the dynamic sensor is located at the calibrated position, the central axis of the dynamic sensor may coincide with the central axis of the environmental sensor, or it may be It does not coincide with the central axis of the environment sensing sensor, that is, the central axis of the dynamic sensor and the central axis of the environment sensing sensor are located at two different positions.

Based on this, adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range can also be implemented in the following manner: adjusting the central axis of the dynamic sensor in the vehicle coordinate system The position of the dynamic sensor is located at the calibration position corresponding to the first detection area; wherein, the calibration position refers to the central axis of the dynamic sensor in advance according to the boundary information of the first angle range At the calibrated position, when the central axis of the dynamic sensor is at the calibrated position, the angular range of the second detection area of the dynamic sensor covers the first angular range of the first detection area of the first sensor.

Exemplarily, the dynamic sensor may be a sensor combination, that is, the dynamic sensor may include a plurality of environmental sensing sensors, for example, the dynamic sensor may include a camera device, a laser radar, and a millimeter wave radar. After the computing unit determines the first sensor and the first detection area of the first sensor, the environment sensing sensor of the same sensor type as the first sensor in the dynamic sensor can be used to replace the first sensor to obtain the environmental information. For example, if the first sensor is a camera, the camera in the dynamic sensor is used instead of the first sensor to obtain environmental information; the first sensor is a lidar, and the Lidar in the dynamic sensor is used instead of the first sensor to obtain environmental information; If the sensor is a millimeter wave radar, the millimeter wave radar in the dynamic sensor is used instead of the first sensor to obtain environmental information and so on.

Based on this, adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range can also be implemented in the following manner: adjusting the second detection area of the second sensor, The second detection area covers the first detection area; the dynamic sensor includes the second sensor, and the sensor type of the second sensor is the same as the sensor type of the first sensor.

Wherein, for the implementation of adjusting the second detection area of the second sensor so that the second detection area covers the first detection area, reference may be made to the content of the foregoing embodiment, which will not be described in detail here.

Step S104: Use the dynamic sensor to replace the first sensor to obtain environmental information.

After adjusting the angle range of the second detection area of the dynamic sensor to cover the first angle range of the first detection area of the first sensor, the dynamic sensor can be used instead of the first sensor to obtain environmental information, so that the driving environment around the vehicle can still be guaranteed It is covered by the environmental sensor at 720 degrees to ensure that the vehicle meets the requirements of ASIL D.

Optionally, when the dynamic sensor is a sensor combination, that is, the dynamic sensor may include multiple environmental sensing sensors, in step S104, the second sensor is used instead of the first sensor to obtain environmental information.

After using the dynamic sensor to replace the first sensor to obtain environmental information, the vehicle control information can be generated based on the environmental information detected by the dynamic sensor and the environmental information detected by other environmental sensing sensors on the vehicle, and the vehicle can be controlled according to the vehicle control information.

In addition, when the computing unit determines that there is no failed environment sensing sensor among all the environment sensing sensors on the vehicle, that is, there is no first sensor on the vehicle, the computing unit will obtain driving road condition information. The driving road condition information refers to the actual driving of the vehicle. Information about road conditions, such as urban road conditions, highway conditions, etc.; then obtain the preset angle corresponding to the driving information, and record it as the third angle, where the correspondence between the driving information and the preset angle is stored in the system in advance ; Finally, adjust the angle of the central axis of the dynamic sensor from the reference coordinate axis of the vehicle coordinate system, so that the angle of the central axis of the dynamic sensor from the reference coordinate axis is the third angle, and use the dynamic The sensor acquires the environmental information of the detection area corresponding to the driving road condition information. In this way, the dynamic sensor can be adjusted to obtain the environmental information of the specific key detection area according to the actual road conditions of the vehicle, and the usability of the dynamic sensor can be improved, and the accuracy of environmental detection under the road conditions can be increased, and the safety of the vehicle can be improved.

In the information acquisition method provided by the embodiments of the present application, the first detection area of the failed environmental sensing sensor and the failed environmental sensing sensor on the vehicle is first determined; and then the second detection area of the dynamic sensor on the vehicle is adjusted, The second detection area is adjusted to a state where its angle range covers the first angle range of the first detection area; finally, the dynamic sensor is used to replace the failed environmental sensing sensor to obtain environmental information. Using this method, when the environment sensing sensor covers the driving environment around the vehicle to 720 degrees panoramic coverage, when an environmental sensing sensor fails, the dynamic sensor can be used to replace the environmental sensing sensor to obtain each detection direction within its angle range. Without adding multiple environment sensing sensors, it greatly reduces the waste of environmental sensing sensor resources and has better applicability.

The various method embodiments described herein may be independent solutions or may be combined according to internal logic, and these solutions fall within the protection scope of the present application.

It can be understood that, in each of the foregoing method embodiments, the methods and operations implemented by the computing unit of the vehicle-mounted system can also be implemented by components (such as chips or circuits) that can be used in the computing unit.

The foregoing mainly introduces the solution provided by the embodiment of the present application from the perspective of interaction between each network element. It is understandable that each network element, such as the environment sensing sensor, dynamic sensor, computing unit, etc. of the vehicle-mounted system, includes hardware structure or software module corresponding to each function, or a combination of the two in order to realize the above-mentioned functions. Those skilled in the art should easily realize that in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

The embodiment of the present application may divide the computing unit and the like into functional modules according to the foregoing method examples. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation. The following is an example of dividing each function module corresponding to each function as an example.

Above, the method provided by the embodiment of the present application has been described in detail with reference to FIGS. 1 to 6. Hereinafter, the device provided by the embodiment of the present application will be described in detail with reference to FIG. 7 and FIG. 8. It should be understood that the description of the device embodiment and the description of the method embodiment correspond to each other. Therefore, for the content that is not described in detail, please refer to the above method embodiment. For the sake of brevity, it will not be repeated here.

Refer to FIG. 7, which is a structural block diagram of an embodiment of the information acquisition device provided by this application. As shown in FIG. 7, the information acquisition device 700 may include: a first determination module 701, a second determination module 702, an adjustment module 703, and an acquisition module 704. The information acquisition device 700 may be used to perform the actions performed by the computing unit of the on-board system in the vehicle in the above method embodiment.

For example: the first determining module 701 is used to determine the first sensor in the environmental sensing sensors on the vehicle; the first sensor is a failed environmental sensing sensor; the second determining module 702 is used to determine the first sensor A first detection area of a sensor; the first detection area includes a first angle range; the first angle range is an angle range where the detection angle of the first sensor covers the driving environment around the vehicle; the adjustment module 703. The second detection area of the dynamic sensor on the vehicle is adjusted so that the angle range of the second detection area covers the first angle range; the acquisition module 704 is configured to use the dynamic sensor instead of the first angle range. The first sensor obtains environmental information.

Optionally, the adjustment module 703 is specifically configured to: obtain a first angle; the first angle is the angle that the central axis of the first sensor deviates from the reference coordinate axis of the vehicle coordinate system; and adjust the center of the dynamic sensor The angle at which the axis deviates from the reference coordinate axis, such that the angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis is the first angle; the detection angle of the dynamic sensor is greater than or equal to the detection angle of the first sensor .

Optionally, the adjustment module 703 is specifically configured to: obtain a second angle; the second angle is the angle at which the center axis of the dynamic sensor deviates from the reference coordinate axis when the second angle is fixed to the dynamic sensor. The angle detected by the same angle sensor; when the angle detected by the angle sensor is zero degrees, the angle of the center axis of the dynamic sensor that deviates from the reference coordinate axis is zero degrees; if the second angle and the first angle If the angle is different, the angle actuator fixed with the dynamic sensor is controlled to rotate so that the angle detected by the angle sensor is equal to the first angle.

Optionally, the adjustment module 703 is specifically configured to: adjust the position of the central axis of the dynamic sensor so that the central axis of the dynamic sensor is located at a calibration position corresponding to the first detection area; the calibration position refers to According to the boundary information of the first angular range, the position calibrated by the central axis of the dynamic sensor is preset. When the central axis of the dynamic sensor is at the calibrated position, the angular range of the second detection area covers the first Angle range.

Optionally, the adjustment module 703 is specifically configured to: adjust the second detection area of the second sensor so that the second detection area covers the first detection area; the dynamic sensor includes the second sensor, and The sensor type of the second sensor is the same as the sensor type of the first sensor.

Optionally, the first determining module 701 is specifically configured to: obtain state information of the environment sensing sensor on the vehicle; and determine the first sensor in the environment sensing sensor according to the state information.

Optionally, the information acquisition device 700 further includes: a generating module configured to generate vehicle control information according to the environmental information detected by the dynamic sensor.

That is to say, the information acquisition device 700 can implement the steps or processes executed by the computing unit of the vehicle in-vehicle system in the method shown in FIG. 5 according to the embodiment of the present application, and the information acquisition device 700 may include The module of the method executed by the calculation unit of the on-board system in the vehicle in the method shown. In addition, the modules and other operations and/or functions described above in the information acquisition device 700 are used to implement the corresponding steps of the method shown in FIG. 5. For example, the first determining module 701 in the information acquiring apparatus 700 may be used to perform step S101 in the method shown in FIG. 5, and the second determining module 702 may be used to perform step S102 in the method shown in FIG. 5. The adjustment module 703 It may be used to execute step S103 in the method shown in FIG. 5, and the obtaining module 704 may be used to execute step S104 in the method shown in FIG.

It should be understood that the specific process for each module to execute the foregoing corresponding steps has been described in detail in the foregoing method embodiment, and is not repeated here for brevity.

In addition, the information acquisition device 700 may be a computing unit of an in-vehicle system in a vehicle, and the computing unit may perform the function of the computing unit in the foregoing method embodiment, or implement the steps or processes performed by the computing unit in the foregoing method embodiment.

The calculation unit may include a processor and a transceiver. Optionally, the calculation unit may also include a memory. Among them, the processor, transceiver, and memory can communicate with each other through internal connection paths to transfer control and/or data signals. The memory is used to store computer programs or instructions, and the processor is used to call and run the computer from the memory. Programs or instructions to control the transceiver to receive signals and/or send signals.

The foregoing processor may be combined with a memory to form a processing device, and the processor is configured to execute a computer program or instruction stored in the memory to realize the foregoing functions. During specific implementation, the memory may also be integrated in the processor or independent of the processor.

The above transceiver may also be referred to as a transceiver unit. The transceiver may include a receiver (or called a receiver, a receiving circuit) and/or a transmitter (or called a transmitter, a transmitting circuit). Among them, the receiver is used to receive signals, and the transmitter is used to send signals.

It should be understood that the foregoing calculation unit can implement each process involving the calculation unit in the method embodiment shown above. The operation and/or function of each module in the computing unit is to implement the corresponding process in the foregoing method embodiment. For details, please refer to the descriptions in the above method embodiments. To avoid repetition, detailed descriptions are appropriately omitted here.

The embodiment of the present application also provides a processing device, including a processor and an interface. The processor may be used to execute the method in the foregoing method embodiment.

It should be understood that the aforementioned processing device may be a chip. For example, refer to FIG. 8, which is a structural block diagram of an embodiment of the chip provided by this application. The chip shown in FIG. 8 may be a general-purpose processor or a special-purpose processor. The chip 800 includes a processor 801. The processor 801 may be used to support the device shown in FIG. 7 to execute the technical solution shown in FIG. 5.

Optionally, the chip 800 may further include a transceiver 802. The transceiver 802 is used to receive the control of the processor 801 and used to support the device shown in FIG. 7 to execute the technical solution shown in FIG. 5. Optionally, the chip 800 shown in FIG. 8 may further include: a storage medium 803.

It should be noted that the chip shown in Figure 8 can be implemented using the following circuits or devices: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD) , Application specific integrated circuit (ASIC), system on chip (SoC), central processor unit (CPU), network processor (NP), digital signal processing circuit (digital signal processor, DSP), microcontroller (microcontroller unit, MCU), controller, state machine, gate logic, discrete hardware components, any other suitable circuits, or capable of performing various functions described throughout this application Any combination of circuits.

In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

It should be noted that the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method embodiments can be completed by hardware integrated logic circuits in the processor or instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components . The methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), and electrically available Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of exemplary but not restrictive description, many forms of RAM are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), and synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (synchlink DRAM, SLDRAM) ) And direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memories of the systems and methods described herein are intended to include, but are not limited to, these and any other suitable types of memories.

According to the method provided by the embodiment of the present application, the embodiment of the present application also provides a computer program product, the computer program product includes: a computer program or instruction, when the computer program or instruction runs on a computer, the computer executes FIG. 5 The method of any one of the illustrated embodiments.

According to the method provided by the embodiment of the present application, the embodiment of the present application also provides a computer storage medium that stores a computer program or instruction, and when the computer program or instruction runs on a computer, the computer executes FIG. 5 The method of any one of the illustrated embodiments.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction may be downloaded from a website, computer, The server or data center transmits to another website, computer, server, or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (such as infrared, wireless, microwave, etc.) transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state disk (solid state disc, SSD)) etc.

The terms "component", "module", "system", etc. used in this specification are used to denote computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, the component may be, but is not limited to, a process, a processor, an object, an executable file, an execution thread, a program, and/or a computer running on a processor. Through the illustration, both the application running on the computing device and the computing device can be components. One or more components may reside in processes and/or threads of execution, and components may be located on one computer and/or distributed between two or more computers. In addition, these components can be executed from various computer readable media having various data structures stored thereon. The component can be based on, for example, a signal having one or more data packets (e.g. data from two components interacting with another component in a local system, a distributed system, and/or a network, such as the Internet that interacts with other systems through a signal) Communicate through local and/or remote processes.

Those of ordinary skill in the art may realize that the various illustrative logical blocks and steps described in the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. accomplish. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the above-described system, device, and module can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other divisions in actual implementation, for example, multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional modules in the various embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules may be integrated into one unit.

If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disks or optical disks and other media that can store program codes. .

The information acquisition device, computer storage medium, computer program product, and chip provided in the above embodiments of the present application are all used to execute the methods provided above. Therefore, the beneficial effects that can be achieved can refer to the corresponding methods provided above The beneficial effects will not be repeated here.

It should be understood that in each embodiment of the present application, the execution order of each step should be determined by its function and internal logic, and the size of each step sequence number does not mean the order of execution, and does not limit the implementation process of the embodiment.

Each part of this specification is described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the embodiments of the information acquisition device, computer storage medium, computer program product, and chip, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant details can be referred to the description in the method embodiment.

Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

The implementation manners of the application described above do not constitute a limitation on the protection scope of the application.

Claims (13)

An information acquisition method, characterized in that the method is applied to a vehicle-mounted system of a vehicle, and the method includes: Determining that the first sensor in the environmental sensing sensors on the vehicle is a failed environmental sensing sensor; Determine a first detection area of the first sensor; the first detection area includes a first angle range; the first angle range is an angle range where the detection angle of the first sensor covers the driving environment around the vehicle; Adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range; The dynamic sensor is used to obtain environmental information. The information acquisition method according to claim 1, wherein the adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range comprises: Acquiring a first angle; the first angle is the angle of the center axis of the first sensor deviating from the reference coordinate axis of the vehicle coordinate system; Adjust the angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis, so that the angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis is the first angle; the detection angle of the dynamic sensor is greater than or equal to The detection angle of the first sensor. The information acquisition method according to claim 1, wherein the adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range comprises: The position of the central axis of the dynamic sensor is adjusted so that the central axis of the dynamic sensor is located at the calibration position corresponding to the first detection area; the calibration position refers to the boundary information of the first angle range, which is previously The position calibrated by the central axis of the dynamic sensor. When the central axis of the dynamic sensor is at the calibrated position, the angular range of the second detection area covers the first angular range. The information acquisition method according to claim 1, wherein the adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range comprises: Adjust the second detection area of the second sensor so that the second detection area covers the first detection area; the dynamic sensor includes the second sensor, and the sensor type of the second sensor is the same as that of the first detection area. The sensor type of the sensor is the same. The information acquisition method according to any one of claims 1 to 4, wherein the determining that the first sensor of the environmental sensing sensors on the vehicle is a failed environmental sensing sensor comprises: Acquiring state information of the environment sensing sensor on the vehicle; According to the state information, it is determined that the first sensor in the environmental sensing sensor is a failed environmental sensing sensor. The information acquisition method according to any one of claims 1 to 5, wherein the method further comprises: The vehicle control information is generated according to the environmental information detected by the dynamic sensor. An information acquisition device, characterized in that the device includes: The first determining module is configured to determine that the first sensor in the environmental sensing sensors on the vehicle is a failed environmental sensing sensor; The second determining module is used to determine the first detection area of the first sensor; the first detection area includes a first angle range; the first angle range is the detection angle of the first sensor covering the vehicle The angular range of the surrounding driving environment; An adjustment module for adjusting the second detection area of the dynamic sensor on the vehicle so that the angle range of the second detection area covers the first angle range; The obtaining module is used to obtain environmental information by using the dynamic sensor. The information acquisition device according to claim 7, wherein the adjustment module is specifically configured to: Acquiring a first angle; the first angle is the angle of the center axis of the first sensor deviating from the reference coordinate axis of the vehicle coordinate system; Adjust the angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis, so that the angle at which the central axis of the dynamic sensor deviates from the reference coordinate axis is the first angle; the detection angle of the dynamic sensor is greater than or equal to The detection angle of the first sensor. The information acquisition device according to claim 7, wherein the adjustment module is specifically configured to: The position of the central axis of the dynamic sensor is adjusted so that the central axis of the dynamic sensor is located at the calibration position corresponding to the first detection area; the calibration position refers to the boundary information of the first angle range, which is previously The position calibrated by the central axis of the dynamic sensor. When the central axis of the dynamic sensor is at the calibrated position, the angular range of the second detection area covers the first angular range. The information acquisition device according to claim 7, wherein the adjustment module is specifically configured to: Adjust the second detection area of the second sensor so that the second detection area covers the first detection area; the dynamic sensor includes the second sensor, and the sensor type of the second sensor is the same as that of the first detection area. The sensor type of the sensor is the same. The information acquisition device according to any one of claims 7 to 10, wherein the first determining module is specifically configured to: Acquiring state information of the environment sensing sensor on the vehicle; According to the state information, it is determined that the first sensor in the environmental sensing sensor is a failed environmental sensing sensor. The information acquisition device according to any one of claims 7 to 11, wherein the device further comprises: The generating module is used to generate vehicle control information according to the environmental information detected by the dynamic sensor. A device, characterized in that it comprises a processor and a memory; The processor is configured to execute a computer program or instruction stored in the memory, and when the computer program or instruction is executed, the device realizes the method according to any one of claims 1 to 6.

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